# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
-0.012949

# Root(pelvis)
0 1.055811 0
0.998422 0.055428 0.000000 -0.008963
0.219319 0.141260 1.743945
-0.000536 -0.012643 0.068767

# pelvis_torso
0.986767 0.085526 0.137736 -0.002420
-0.202826 -0.317090 0.002823

# lHip
0.915201 -0.402983 0.000212 0.003464
2.120095 0.056777 0.400928

# rHip
0.998547 -0.013311 -0.050130 0.014640
0.140727 -8.437305 -0.794844

# torso_head
0.991807 0.008701 -0.127448 0.000371
-0.095996 0.090426 -0.017989

# lShoulder
0.644411 0.147440 -0.009268 -0.750273
-1.164042 -0.249964 -0.085201

# rShoulder
0.659685 0.021360 0.057552 0.749031
0.502193 -1.063548 0.049228

# lKnee
0.894918 0.446231 0.000001 0.000000
-6.484028 0.000546 0.000523

# rKnee
0.983187 0.182604 -0.000000 -0.000006
2.437406 0.000626 -0.005643

# lElbow
0.368150 0.000000 -0.929767 0.000000
-0.000071 -0.678709 0.000126

# rElbow
0.432567 -0.000000 0.901602 0.000000
0.000009 0.491819 0.000184

# lAnkle
0.992320 -0.123696 -0.000013 0.000102
0.998301 0.000096 -0.002783

# rAnkle
0.983404 0.181379 -0.000782 -0.004223
4.767210 -0.043833 0.191189

# lToeJoint
0.985755 -0.168189 0.000000 0.000000
-0.928579 0.000107 0.000009

# rToeJoint
0.966390 -0.257081 0.000000 -0.000000
0.000000 -0.000000 0.000000

